77PC motion controller

MP2100 - MECHATROLINK-II

PC motion controllerPC based solution for advanced motion control• Up to 32 axes controlled with minimum wiring• Motion APIs are available for customised control

aplications. Motion commands can be input from either the PC application or the MP2100 program

• Self configuration of nodes for an easy setup• Supports position, speed and torque control• Electronic CAM profiles and axes synchronization• The high-speed bus MECHATROLINK-II is specially

designed for motion control• Support for I/Os locally and over the network • Access to the complete system from one point

System configuration

NS115

SW1

SW2

A

R

CN6A

CN6B

CN4

CHARGE POWER

SERVOPACK

SGDH-

200VVer.

CN3

CN1

CN2

NS115

SW1

SW2

A

R

CN6A

CN6B

CN4

CHARGE POWER

SERVOPACK

SGDH-

200VVer.

CN3

CN1

CN2

CHARGE POWER

SERVOPACK

SGDH-

200VVer.

CN3

CN1

CN2

NS115

SW1

SW2

A

R

CN6A

CN6B

CN4

CHARGE POWER

SERVOPACK

SGDH-

200VVer.

CN3

CN1

CN2

NS115

SW1

SW2

A

R

CN6A

CN6B

CN4

CN1

CN2

RUNTX 1 2 3 4 5 6 7 8 120 DDI 343 30

Sigma-II series

Servo Drive

JUSP-NS115

Mechatrolink-II

unit

Sigma-II series

Servo Motor

Sigma-II series

Linear Motor

Terminator

Personal computer

Software: MPE720 tool

MECHATROLINK-II21 nodes max. 16 servo axes max. + I/O stations Totel length: 50 m

Limit switches contact sensors

Input

I/O module

Local I/Os Motion API

Motion controller MP2100

(The MP2100M can

handle up to 2

Mechatrolink-II network)

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78 Motion controllers

Specifications

General specifications

Hardware specifications

Sequential function specifications

Items SpecificationsEnvironmental conditions

Ambient operating temperature 0 to 55 °CAmbient storage temperature -25 to 85 °CAmbient operating humidity 30% to 95% (with no condensation)Ambient storage humidity 5% to 95% (with no condensation)Pollution level Pollution level 1 (conforming to JIS B 3501)Corrosive gas There must be no combustible or corrosive gas.Operating altitude 2,000 m above sea level or lower

Mechanical operating conditions

Vibration resistance Conforming to JIS B 3502: 10 to 57 Hz with single-amplitude of 0.075 mm 57 to 150 Hz with fixed acceleration of 1 G 10 sweeps each in X, Y, and Z directions (sweep time: 1 octave/min)

Shock resistance Conforming to JIS B 3502:Peak acceleration of 147 m/s2 (15 G) twice for 11 ms each in the X, Y, and Z directions

Electrical operating conditions

Noise resistance Conforming to EN 61000-6-2, EN 55011 (Group 1, Class A)

Installationrequirements

Ground Ground to 100 Ω max.Cooling method Natural cooling

Items SpecificationsControl method Sequence: High-speed and low-speed scan methodsProgramming language Ladder diagram: Relay circuit

Text-type language: Numeric operations, logic operations, etc.Scanning Two scan levels: High-speed scan and low-speed scan

High-speed scan time setting: 1 to 32 ms (Integral multiple of MECHATROLINK communication cycle)Low-speed scan time setting: 2 to 300 ms (Integral multiple of MECHATROLINK communication cycle)

User drawings, functions and motion programs

Startup drawings (DWG.A):Interrupt processing drawings (DWG.I):High-speed scan process drawings (DWG.H):Low-speed scan process drawings (DWG.L):Number of steps:User functions:Motion programs:Revision history of drawings and motion programsSecurity function for drawings and motion programs

64 drawings max. up to three hierarchical drawing levels64 drawings max. up to three hierarchical drawing levels200 drawings max. up to three hierarchical drawing levels500 drawings max. up to three hierarchical drawing levelsUp to 1,000 steps per drawingUp to 500 functionsUp to 256

Data memory Common data (M) registers:System (S) registers:Drawing local (D) registers:Drawing constant (#) registers:Input (I) registers:Output (O) registers:Constant (C) registers:

64 Kwords8 KwordsUp to 16 Kwords per drawingUp to 16 Kwords per drawing5 Kwords (including internal input registers)5 Kwords (including internal output registers)16 Kwords

Trace memory Data trace: 128 Kwords (32 Kwords / 4 groups), 16 points definedMemory backup Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes) definition files, ladder programs, motion programs, etc.

Data memory: Battery backup: 256 Kbytes, M registers, S registers, alarm history, trace dataData types Bit (relay): ON/OFF

Integer: -32768 to +32767Double-length integer: -2147483648 to +2147483647Real number: ± (1.175E-38 to 3.402E+38)

Register designation method

Register number: Direct designation of register numberSymbolic designation: Up to 8 alphanumeric characters (up to 200 symbols per drawing)

With automatic number or symbol assignment

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PC motion controller 79

Motion control function specifications.

MP2100, MP2100M boards

Item SpecificationsInterface MECHATROLINK-I, MECHATROLINK-IINumber of controlled axes/module Up to 16 axesControl specifications

PTP control Linear, rotary, and infinite-lengthInterpolation Up to 16 linear axes, 2 circular axes, and 3 helical axesSpeed reference output YesTorque reference output YesPhase control YesPosition control

Positioning YesExternal positioning YesZero point return YesInterpolation YesInterpolation with position detection function

Yes

JOG operation YesSTEP operation YesParameter changes during motion command execution

Yes

Reference unit mm, inch, deg, or pulseReference unit minimum setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001Maximum programmable value -2147483648 to +2147483647 (signed 32-bit value)Speed reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s

Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/minPercentage designation: Percentage of rated speed

Acceleration/deceleration type Linear, asymmetric, S-curve, exponentAcceleration/deceleration reference unit Reference unit/s2 designation: mm/s2, inch/s2, deg/s2, pulse/s2

Acceleration/deceleration time constant: Time from 0 to rated speed (ms)Override function Positioning: 0.01% to 327.67% by axis Coordinate system Rectangular coordinatesZero point re-turn

DEC1+ phase-C pulse YesZERO signal YesDEC1+ ZERO signal YesPhase-C pulse YesOnly phase-C pulse YesPOT and phase-C pulse YesPOT YesHome limit switch and phase-C pulse YesHOME YesNOT and phase-C pulse YesNOT YesINPUT and phase-C pulse YesINPUT Yes

Applicable servo drives SGDH-@@@E-OY + NS115Applicable frequency inverters Varispeed V7, F7, G7 with MECHATROLINK-II Interface

(for inverter’s version supported contact your OMRON sales office)Encoders Incremental encoder

Yaskawa absolute encoder

Items Specifications AppearanceModel JAPMC-MC2100, JAPMC-MC2140Power supply Input supply voltage: 5 VDC±5%Dimensions 106.68x174.63 mm half the size of a standard PCIMotion network MECHATROLINK-II: One channel with MP2100, two channels with MP2100M

Twenty-one stations, including servo drives, inverters and I/O equipment, can be connected. (16 axes for servo drives and inverters)Transmission speed: 10Mbps (MECHATROLINK-II)Transmission distance: See “MECHATROLINK-II repeater”

I/O signals Digital input: 5 points (one point can be used for interrupts),24 VDC, 4 mA, and source mode or sink mode input

Digital output: 4 points, 24 VDC, 100 mA, open collector, and sink mode outputElectricaloperatingconditions

Noiseresistance

Radiation noise (FT noise): 1 kV or more for 1 min.Static noise (contact discharging method): 6 kV or more for 10 timesOther noise: Not specified

Mechanical operatingconditions

Vibration resistance Not specifiedShock resistance Not specified

Installation requirements Ground Follows the personal computer’s requirementsEnvironmental conditions Same as the general specifications

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80 Motion controllers

Host computer specifications

MECHATROLINK-II, 64 point I/O module (IO2310)

MECHATROLINK-II, counter module (PL2900)

MECHATROLINK-II, pulse output module (PL2910)

MECHATROLINK-II, analog input module (AN2900)

Items SpecificationsHardware Model PC/AT compatible

CPU Pentium 200 MHz or more (Pentium 400 MHz or more recommended)Memory capacity 64 MB or moreHard disk drive capacity Free space 500 MB or moreDisplay resolution 800x600 or more (1024x768 recommended)Expansion slot1 Half the size of a standard PCI slotInterrupts1 First-level use (IRQ sharing is possible)I/O memory1

1. These specifications are applicable if using one MP2100s board. If using two or more boards in the same host personal computer, expanasion slots, inter-rupts and I/O memory resources needs to be increased per each board.

32 kB shared memory usedSoftware OS Windows NT 4.0 Workstation SP5 or later

Windows 2000 Professional SP1 or laterWindows XP

Web browser Microsoft IE 5.5 SP2 or laterLanguage Microsoft Visual C/C++ 6.0 SP5 or later

Items Specifications AppearanceModel JEPMC-IO2310I/O signals Input: 64 points, 24 VDC, 5 mA, sink/source mode input

Output: 64 points, 24 VDC, 50 mA when all points ON,(The max. rating is 100 mA per point) sink mode output (NPN)

Signal connection method: Connector (FCN360 series)Module powersupply

24 VDC (20.4 V to 28.8 V)Rated current: 0.5 AInrush current: 1 A

Weight 590 g

Items Specifications AppearanceModel JEPMC-PL2900Number of input channels

2

Functions Pulse counter, notch output, registration inputPulse input method Sign (1/2 multipliers), A/B (1/2/4 multipliers), UP/DOWN (1/2 multipliers)Max. counter speed 1200 kpps (4 multipliers)Pulse input voltage 3/5/12/24 VDCExternal power supply For input signal: 24 VDC, for dividing load: 24 VDC, for module: 24 VDC (20.4 V to 26.4 V), 120 mA or lessWeight 300 g

Items Specifications AppearanceModel JEPMC-PL2910Number of output channels 2

Functions Pulse positioning, JOG run, zero-point returnPulse output method CW, CCW pulse, signMax. output speed 500 kppsPulse output voltage 5 VDCPulse interface circuit Open collector output

5 VDC, 10 mA/circuitExternal control signal Digital input: 8 points/module, 5 VDC x 4 points, 24 VDC x 4 points

Digital output: 6 points/module, 5 VDC x 4 points, 24 VDC x 2 pointsWeight 300 g

Items Specifications AppearanceModel JEPMC-AN2900Number of input channels

4

Input voltage range -10 V to +10 VInput impedance 1 MΩ min.Data format Binary, -32000 to +32000Input delay time 4 ms max.Error ± 0.5% F.S. (at 25 °C), ± 1.0% F.S. (at 0 °C to 60 °C)External power supply 24 VDC (20.4 VDC to 26.4 VDC), 120 mA max.Weight 300 g

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PC motion controller 81

MECHATROLINK-II, analog output module (AN2910)

MECHATROLINK-II repeater

MECHATROLINK-II servo drive interface unit

MECHATROLINK-II, frequency inverter interface units

Items Specifications AppearanceModel JEPMC-AN2910Number of output channels 2

Output voltage range -10 V to +10 VMax. allowableload current ± 5 mA (2 kΩ)

Data format Binary, -32000 to +32000Output delay time 1 msError ± 0.2% F.S. (at 25 °C), ± 0.5% F.S. (at 0 °C to 60 °C)External power supply 24 VDC (20.4 VDC to 26.4 VDC), 120 mA max.Weight 300 g

Items Specifications AppearanceModel JEPMC-REP2000Communication type MECHATROLINK-IICable length Between controller and repeater: 50 m, after repeater: 50 mMax. connected stations

Total stations on both sides of repeater: 30(limited to the max. number of connectable stations of the controller (e.g., 21 stations for the MP2300 series)

Restrictions Between controller and repeater- Total cable length ≤ 30 m: 15 stations max. including I/O and servo, etc.- 30 m < total cable length ≤ 50 m: 14 stations max. including I/O and servo, etc.After repeater:- Total cable length ≤ 30 m: 16 stations max. including I/O and servo, etc.- 30 m < total cable length ≤ 50 m: 15 stations max. including I/O and servo, etc.

Power supply 24 VDC, 100 mAWeight 340 gDimensions (mm) 30x160x77 (HxWxD)

Item DetailsType JUSP-NS115Applicable servo drive SGDH-@@@E models (version 38 or later)Installation method Mounted on the SGDH servo drive side: CN10.Basic specifications

Power supply method Supplied from the servo drive control power supply.Power consumption 2 W

MECHATROLINK -II communications

Baud rate/transmission cycle 10 Mbps / 1 ms or more. MECHATROLINK-II communications

Command format Operation specification Positioning using MECHATROLINK-I/II communications.Reference input MECHATROLINK-I/II communications

Commands: position, speed, torque, parameter read/write, monitor outputPosition control functions

Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, S-curveFully closed control Position control with fully closed feedback is possible.

Fully closed system specifications

Encoder pulse output in the servo drive

5 V differential line-driver output (complies with EIA Standard RS-422A)

Fully closed encoder pulse signal A quad B line-driverMaximum receivable frequency for servo drive

1 Mpps

Power supply for fully closed encoder

To be prepared by customer.

Input signals in the servo drive

Signal allocation changes possible

Forward/reverse run prohibited, zero point return deceleration LSExternal latch signals 1, 2, 3Forward/reverse torque control

Internal functions Position data latch function Position data latching is possible using phase C, and external signals 1, 2, 3Protection Parameters damage, parameter setting errors, communications errors,

WDT errors, fully closed encoder detecting disconnectionLED indicators A: Alarm, R: MECHATROLINK-I/II communicating

Item DetailsType SI-T/V7 SI-TApplicable inverter CIMR-V7 / 3G3-MV

(firmware 5740 or newer)CIMR-G7 / CIMR-F7(firmware 656x/for G7 / 4011 or newer for F7)

Contact your OMRON sales office for information about firmware compatibilityInstallation method Mounted on the inverterPower supply Supplied from the inverterMECHATROLINK-II communications 10 MHz, 0.5 ms to 8 ms for MECHATROLINK-IIOperation Read and write registers, read monitors, inverter operation, speed reference, torque reference

(G7/F7 only).Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII masterConnectors ML-II bus connector. DPRAM connector for the inverterSwitches Rotary switch for ML-II address (low byte)

Dip switch for: ML-II address (high bit). ML-II/ML-I selection. 17 byte/32 byte data length selection.

NS115

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82 Motion controllers

Dimensions

MP2100, MP2100M boards

IO2310 I/O module

I/O modules PL2900, PL2910, AN2900, AN2910

MECHATROLINK-II servo drive interface unit

174.63

10

6.6

8

4-tapped holes M4

121

0.2

111 0.2

Mounting hole diagram1084.5 4.5111

120

121

130

4.5

4.5

4.5 152

RUN TX 1 2 3 4 5 6 7 8 120 DDI 343 30

CN1

CN2

4.5161152

44

RUN TX 1 2 3 4 5 6 7 8 120 DDI 343 30

89.8

79

24

CN6A

Units: mm Approx. weight: 0.2 kg

NS115

SW1

20 128

142

100

2

SW2

AR

CN6A

CN6B

CN4

NameplateCN6B

CN4

FG terminal

Connectorto SERVOPACK

M4

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PC motion controller 83

Ordering information

MP2100 - motion controller main units

MECHATROLINK-II - related devices

I/O cables

Accessories

Computer software

Servo systemNote: Refer to servo systems section for detailed information

Frequency invertersNote: Refer to frequency inverters section for detailed information

Name Model name ModelMP2100 board, 1 channel for MECHATROLINK-II communication, 5-point input and 4-point output

MP2100 JAPMC-MC2100

MP2100M board, 2 channels for MECHATROLINK-II communication, 5-point input and 4-point output

MP2100M JAPMC-MC2140

Name Remarks ModelDistributed I/O modules 64-point input and 64-point output JEPMC-IO2310

Reversible counter: 2 channels JEPMC-PL2900Pulse output: 2 channels JEPMC-PL2910Analog input: -10 V to +10 V, 4 channels JEPMC-AN2900Analog output: -10 V to +10 V, 2 channels JEPMC-AN2910

MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A51 meter JEPMC-W6003-013 meters JEPMC-W6003-035 meters JEPMC-W6003-0510 meters JEPMC-W6003-1020 meters JEPMC-W6003-2030 meters JEPMC-W6003-30

MECHATROLINK-II terminator Terminating resistor JEPMC-W6022MECHATROLINK-II interface unit

For Sigma-II series servo drives. (Firmware version 38 or later) JUSP-NS115For Varispeed V7 inverter (for inverter version support contact your OMRON sales office)

SI-T/V7

For Varispeed F7, G7 inverter (for inverter version support contact your OMRON sales office)

SI-T

MECHATROLINK-II repeater MECHATROLINK-II repeater JEPMC-REP2000

Name Remarks Lenght m ModelI/O cable for MP2100 With connector on the MP2100 side 0.5 JEPMC-W2062-A5

1.0 JEPMC-W2062-013.0 JEPMC-W2062-03

I/O cable for IO2310 With connector on the IO2310 side 0.5 JEPMC-W5410-051.0 JEPMC-W5410-103.0 JEPMC-W5410-30

Name ModelBattery ER3V 3.6V JZSP-BA01Extended cable for battery with connectors on both sides JEPMC-W2090-01Brackets for DIN rail JEPMC-OP300

Specifications ModelProgramming software to support from system design to maintenance.Intuitive ladder programming and editing functions. CAM data generationWindows-based (Windows 95/98/NT4.0/2000/XP)

CPMC-MPE720

Motion API. Header file, library, DLL, driver, and manual CPMC-MPA70

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84 Motion controllers

In the interest of product improvement, specifications are subject to change without notice.

ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.

To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.

Cat. No. I35E-EN-01

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